allengregoryiv
commented
1 month ago Robot will have a VisionSystem Class that VisionSystem will have multiple Limelight objects in an array, each with a config. During simulation, it will create photoncameras and simcameras to simulate the limelight.
Still need to decide how the VisionSystem and Swerve share information for the poseEstimator. Possibly a third class that consumes methods from both of them.
How do we use limelight on the real robot, and photonvision sim when we are simulation?
Configure them both using the same config file (camera locations, field of views, etc.)